version: 66.11
glider: 179
mission: 9
dive: 119
start: 7 9 112 23 46 6
data:
$ID,179
$MISSION,9
$DIVE,119
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19605.006
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.870029
$PRESSURE_SLOPE,0.0001164844
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,090712,234123,4656.174,-12500.418,80,1.7,80,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.3
$GPS2,090712,234557,4656.140,-12500.394,12,2.1,31,18.4
$SPEED_LIMITS,0.083,0.220
$TGT_NAME,OMEGA
$TGT_LATLONG,4654.000,-12456.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,95.8,6828,-16.5,-8.250
$D_GRID,301
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.83,-116.8,0.0,0.0,0,54,0.00,0.00,-40.40,0.000,2,0.000,0.000,143,2317,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.83,-116.8,3.4,-5.8,7,92,12.05,2.33,-18.98,0.000,4,0.259,0.056,2719,898,3216,0,0,0,0,0,0,24.90,25.69,26.24
$GC,316,-0.72,-116.8,59.0,-16.9,58,324,0.17,2.25,0.00,0.000,6,0.138,0.044,2765,2285,3219,0,0,0,0,0,0,25.41,25.79,28.83
$GC,623,-0.68,-116.8,101.1,-12.8,119,630,0.00,2.20,0.00,0.000,4,0.000,0.040,2765,895,3222,0,0,0,0,0,0,28.83,25.93,28.83
$GC,669,-0.65,-116.8,106.6,-11.0,128,676,0.00,2.28,0.00,0.000,6,0.000,0.043,2765,2305,3221,0,0,0,0,0,0,28.83,25.91,28.83
$GC,975,-0.64,-116.8,136.2,-9.8,189,982,0.10,2.28,0.00,0.000,4,0.168,0.064,2790,3670,3222,0,0,0,0,0,0,26.22,25.77,28.83
$GC,1046,-0.67,-116.8,142.4,-7.7,203,1053,0.00,2.15,0.00,0.000,6,0.000,0.038,2790,2294,3222,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1352,-0.70,-116.8,168.6,-8.6,264,1359,0.00,2.33,0.00,0.000,4,0.000,0.064,2789,3677,3222,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1378,-0.73,-116.8,170.6,-7.9,269,1385,0.00,2.15,0.00,0.000,6,0.000,0.037,2790,2299,3222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1684,-0.76,-116.8,192.8,-6.7,330,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2300,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-0.79,-116.8,215.5,-8.4,371,1993,0.15,2.17,0.00,0.000,4,0.081,0.041,2729,901,3222,0,0,0,0,0,0,26.46,26.04,28.83
$GC,2019,-0.78,-116.8,218.8,-10.2,374,2023,0.00,2.25,0.00,0.000,6,0.000,0.044,2728,2306,3222,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2329,-0.73,-116.8,254.0,-11.4,405,2333,0.12,2.28,0.00,0.000,4,0.164,0.065,2760,3668,3222,0,0,0,0,0,0,26.22,25.78,28.83
$GC,2353,-0.70,-116.8,256.0,-10.7,407,2361,0.00,2.15,0.00,0.000,6,0.000,0.041,2759,2302,3222,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2659,-0.70,-116.8,286.7,-9.8,438,2662,0.00,2.22,0.00,0.000,4,0.000,0.043,2759,901,3221,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2683,-0.70,-116.8,288.7,-9.7,440,2691,0.00,2.22,0.00,0.000,6,0.000,0.044,2759,2293,3221,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,2807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2807,begin apogee
$GC,2811,-0.21,0.0,301.2,-9.5,453,2914,0.52,0.00,99.70,0.716,6,0.113,0.000,2929,1989,2737,0,0,0,0,0,0,25.62,28.83,23.88
$STATE,2914,end apogee,CONTROL_FINISHED_OK
$STATE,2914,begin climb
$GC,2916,0.83,116.8,304.5,0.0,463,3022,0.95,2.38,99.20,0.698,4,0.060,0.044,3279,608,2260,0,0,0,0,0,0,25.03,24.56,23.49
$GC,3142,0.73,116.8,290.9,10.7,486,3146,0.12,2.28,0.00,0.000,6,0.159,0.038,3243,2008,2254,0,0,0,0,0,0,24.98,25.34,28.83
$GC,3451,0.66,116.8,263.1,8.3,517,3455,0.12,2.30,0.00,0.000,4,0.176,0.056,3213,3398,2251,0,0,0,0,0,0,25.75,25.68,28.83
$GC,3492,0.59,120.1,259.9,8.1,521,3496,0.08,2.17,0.00,0.000,6,0.156,0.036,3198,2015,2250,0,0,0,0,0,0,25.60,25.93,28.83
$GC,3801,0.60,144.0,238.4,7.1,552,3828,0.00,2.28,22.55,0.650,4,0.000,0.047,3207,591,2151,0,0,0,0,0,0,28.83,25.75,24.57
$GC,3862,0.63,171.2,234.5,7.0,557,3892,0.00,2.25,24.33,0.646,6,0.000,0.038,3207,1998,2038,0,0,0,0,0,0,28.83,25.79,24.32
$GC,4197,0.63,171.2,204.4,8.5,591,4201,0.00,2.33,0.00,0.000,4,0.000,0.057,3207,3407,2033,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4222,0.61,171.2,202.4,9.0,593,4229,0.00,2.22,0.00,0.000,6,0.000,0.036,3217,2003,2033,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4527,0.60,171.2,172.6,10.0,652,4534,0.00,2.25,0.00,0.000,4,0.000,0.048,3228,597,2032,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4603,0.58,171.2,165.0,10.2,667,4610,0.12,2.22,0.00,0.000,6,0.134,0.039,3188,2000,2031,0,0,0,0,0,0,25.65,25.98,28.83
$GC,4910,0.64,208.4,143.1,6.5,728,4945,0.00,2.35,30.50,0.611,4,0.000,0.056,3189,3402,1886,0,0,0,0,0,0,28.83,25.70,24.59
$GC,4960,0.67,208.4,139.5,8.4,737,4966,0.00,2.22,0.00,0.000,6,0.000,0.037,3196,1999,1885,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5266,0.70,208.4,113.0,9.8,798,5273,0.00,2.25,0.00,0.000,4,0.000,0.047,3206,598,1881,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5302,0.74,208.4,109.2,10.1,805,5309,0.00,2.22,0.00,0.000,6,0.000,0.039,3207,2004,1880,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5609,0.78,213.4,81.6,8.0,866,5617,0.12,2.33,4.57,0.436,4,0.090,0.057,3265,3405,1867,0,0,0,0,0,0,26.32,25.92,24.41
$GC,5686,0.72,213.4,72.2,11.2,881,5694,0.12,2.22,0.00,0.000,6,0.151,0.037,3239,1995,1866,0,0,0,0,0,0,25.60,26.07,28.83
$GC,5992,0.77,256.4,49.0,6.2,942,6035,0.00,2.22,36.58,0.560,4,0.000,0.047,3248,593,1689,0,0,0,0,0,0,28.83,25.70,24.64
$GC,6134,0.82,256.4,36.8,10.7,969,6141,0.00,2.25,0.00,0.000,6,0.000,0.037,3247,2001,1685,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6441,1.03,365.6,12.8,3.0,1030,6532,0.22,2.40,85.68,0.535,4,0.065,0.054,3342,3407,1245,0,0,0,0,0,0,26.15,25.18,24.30
$GC,6541,1.10,393.8,7.0,6.9,1047,6572,0.00,2.28,23.23,0.503,6,0.000,0.035,3351,1986,1130,0,0,0,0,0,0,28.83,25.34,24.22
$STATE,6599,end climb,SURFACE_DEPTH_REACHED
$STATE,6599,begin surface coast
$FINISH,0.8,1.022173
$STATE,6635,end surface coast,CONTROL_FINISHED_OK
$STATE,6635,begin surface
$SM_CCo,6709,0.00,0.000,0,0,1122,396.16
$SM_GC,1.77,9.05,0.52,0.00,0.054,0.047,0.000,148,2310,1122,-8.88,-0.76,396.16,0,0,0,0,0,0,25.25,25.49,28.83
$IRIDIUM_FIX,4622.97,-12530.07,090712,212151
$TT8_MAMPS,0.050183,0.050183
$HUMID,43.03
$INTERNAL_PRESSURE,9.08553
$TCM_TEMP,19.60
$XPDR_PINGS,141
$24V_AH,23.5,45.733
$10V_AH,9.8,35.148
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.050,77.650,426.325,0.000,0.000,28.757,39.896,107.751,35.250,0.000,33.667,0.000,4126.821,498.138,2255.937,89.715,0.000,1341.920,0.000,1606.874,0.000,0.534,0.000
$DEVICE_MAMPS,258.570,65.025,716.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,726.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297300
$DATA_FILE_SIZE,43335,1065
$CAP_FILE_SIZE,101690,0
$CFSIZE,260165632,244559872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,166.3,1
$GPS,100712,013903,4655.475,-12459.234,32,6.6,51,18.4